ECE651

Digital Signal Processing I

Digital IIR Filter Design

Introduction

Some Preliminaries on Analog Filters

Digital IIR Filter Design (s z)

Impulse Invariance Transformation

Bilinear Transformation

Frequency Band Transformations

Analog Domain (s s )

Digital Domain (z z)

Introduction
Analog filter : Infinitely long impulse response

S Z (complex-valued mapping)

Digital IIR filter : Infinitely long impulse response

Introduction

Introduction
Advantages

Analog filter design tables available

Filter transformation (s z) tables available

Frequency band transformation (s s / z z) available

Disadvantages

No control over the phase characteristics of the IIR filter

Magnitude only design

Introduction
Other Design Approaches
Simultaneously approximate both the magnitude and the phase
response

Require advanced optimization tools

Not covered in the class

Preliminaries On Analog Filters

Analog lowpass filter specifications
: passband ripple parameter
A: stopband attenuation parameter

p: passband cutoff frequency (rad/sec)

s: stopband cutoff frequency (rad/sec)
2

H a ( p )
2

H a ( s )

1
1 2
1
A2

Preliminaries On Analog Filters

Analog lowpass filter specifications
R p : passband ripple in dB
As : stopband attenuation in dB

R p 10 log10 (1 2 )

As 20 log10 A

10

R p / 10

A 10 As / 20

Preliminaries On Analog Filters

Analog lowpass filter system function H a (s )
H a ( s ) H a ( s ) H a ( )

s / j

Poles and zeros of magnitude-squared function are

distributed in a mirror-image symmetry with respect to the
imaginary axis
For real filters, poles and zeros occur in complex
conjugate pairs ( mirror symmetry with respect to real axis)

Preliminaries On Analog Filters

Analog lowpass filter system function H a (s )

1. Pick up poles On LHP

2. Pick up zeros on LHP or
Imaginary axis

H a (s )

Stable

Causal

Preliminaries On Analog Filters

Prototype analog filters
1.

Butterworth

2.

Chebyshev (Type I and II)

3.

Elliptic

Preliminaries On Analog Filters

Butterworth lowpass filters (Magnitude-Squared Response)

H a ()

1
c

2N

c The Cutoff frequency (rand/sec)

N The order of the filter

Preliminaries On Analog Filters

Butterworth lowpass filters (System Function)

c
H a ( s)
( s pk )
LHP poles

pk c e

( 2 k N 1)
2N

k 0,1, 2 N 1

Preliminaries On Analog Filters

Butterworth lowpass filters (Design equations)
log10 [(10 R p / 10 1) /(10 As / 10 1)]
N

2
log
(

10
p
s

c
(10
c

R p / 10

1)

1
2N

p
(10 As / 10 1)

1
2N

Digital IIR Filter Design

S - Z transformation

Complex-valued mappings

Derived by preserving different aspects of analog filters and digital filters

Digital IIR Filter Design

Impulse Invariance transformation

Preserve the shape of impulse response

z e sT

Digital IIR Filter Design

Impulse Invariance transformation (Design Procedure)
(MATLAB function: impinvar)
1. Choose T and determine the analog frequencies
p

p
T

s
T

2. Design an analog filter H a (s ) using specifications p , s , R p , and As

N

3. Partial fraction expansion

H a ( s)
k 1

Rk
s pk

pk T
4. Transform analog poles { pk } into digital poles {e } to obtain
N

Rk
pk T 1
z
k 1 1 e

H ( z)

Digital IIR Filter Design

Impulse Invariance transformation (Aliasing)

>> f=0:0.01:5;T=0.1;
>> z=exp(j*2*pi*f*T);
>> zH=(1-0.8966./z)./(1-1.5595./z+0.6065./z./z);
>> s=j*2*pi*f;
>> sH=(1+s)./(s.^2+5*s+6);
>> plot(f,abs(zH),f,abs(sH)/T);legend('Digitital','Analog')
>>title('Magnitude Response of Analog and Digital IIR Filters')

Digital IIR Filter Design

Impulse Invariance transformation
Advantages:
Stable design
Analog frequency and digital frequency are linearly related

Disadvantage
Aliasing
Useful only when the analog filter is band-limited (LPF and
BPF)

Digital IIR Filter Design

Bilinear transformation
Preserve the system function representation

1 ( sT ) / 2
z
1 ( ST ) / 2

2 1 z 1
s
T 1 z 1

Digital IIR Filter Design

Bilinear transformation (Design Procedure)
(MATLAB function: bilinear)
1. Choose T (1)and determine the analog frequencies
p

2
tan( p )
T
2

tan( s )
T
2

2. Design an analog filter H a (s ) using specifications p , s , R p , and As

3. Bilinear transformation

2 1 z 1
H ( z) H a (
)
T 1 z 1

Digital IIR Filter Design

Bilinear transformation
Advantages

Stable design

No aliasing

No restriction on the type of filters that can be transformed

Frequency DomainTransformations
Analog Domain

Frequency DomainTransformations
Digital Domain